As a baseline indirect visual SLAM algorithm, we use ORB-SLAM3 [1]}. An RGB-D mode is already integrated and provides the option of directly feeding depth maps to each corresponding camera image. This allows us to use the RGB-D mode with previously generated and saved depth maps as depicted in Figure REF .
Moreover, we introduce RGB-L mode, which upsamples LiDAR data online using conventional CV and feeds the results to the SLAM module. The computation graph is shown in Figure REF . The depth_node transforms LiDAR data into the camera frame and upsamples the data online using conventional CV methods.
